976 results about "Target surface" patented technology

The invention discloses an error compensation inductance sensor calibration method and system, and the method comprises the steps: controlling a macro-micro composite driving platform to drive a moving part provided with a to-be-calibrated inductance sensor, and enabling the moving part to carry out the continuous displacement movement relative to a fixed standard target surface; measuring the actual displacement of the moving part to obtain a standard displacement sequence; the actual output voltage of the inductive sensor to be calibrated in the movement process is synchronously collected, and an actual measurement value sequence is formed; solving measurement deviation, generating a measurement deviation sequence, and dividing the sequence into not less than three compensation intervals according to a displacement range; a compensation value lookup table is established in each compensation interval, and calibration parameters used for correcting zero offset, gain drift and nonlinear characteristics are generated. Displacement measurement and sensor output synchronous acquisition are combined, zero offset, gain drift and non-linear errors can be corrected in a targeted mode, and compensation fineness and adaptability are improved.

The invention relates to the technical field of robot control, and discloses a robot scanning path adjusting method, device, equipment and medium, and the method comprises the steps: controlling a robot equipped with a sensor to move along a preliminary path, collecting a preliminary two-dimensional image of a target object, processing the image, extracting the feature points of the target object, and combining the spatial information of the sensor when the image is collected; the method comprises the steps of generating a primary three-dimensional point cloud, determining a plurality of ideal sensor postures based on the primary three-dimensional point cloud, determining a new sensor position of each posture on a contactable surface to generate a re-planned scanning path, controlling a robot to move along the re-planned scanning path, adjusting the sensor postures, and collecting a final two-dimensional image of a target object. According to the method, the scanning path is optimized in combination with the initial three-dimensional point cloud local surface normal direction, so that the attitude of the sensor is matched with the geometrical characteristics of the target surface, the problem of three-dimensional reconstruction surface breakage caused by inter-frame pose mismatching under free breathing is solved, and the accuracy of autonomous ultrasonic scanning of the robot is improved.

The invention relates to the technical field of robots and intelligent control, and discloses a robot trajectory control method, device and equipment based on multiple modalities and a medium, and the method comprises the steps: obtaining a natural language instruction, environment visual information and current state information of a robot, carrying out the fusion of visual and language features, and generating a fusion feature, generating a track sequence through a track generation model according to the fusion features and the robot state information, collecting a contact force signal of the tail end of the robot in contact with the target surface, adaptively adjusting impedance parameters by using the contact force signal, and generating a control instruction; and based on the contact force signal, feedback correction is carried out on the track generation model to drive the tail end of the robot to move, and multi-mode sensing and force control feedback cooperative control is achieved. According to the invention, track and force control cooperation is realized through multi-modal fusion and contact force feedback, so that the robot keeps stable fitting and adaptive motion in a complex contact scene, and the track generation precision and the imaging quality are improved.

The invention discloses a submarine topography reconstruction system and method based on optical mobile measuring and scanning, and relates to the technical field of ocean exploration, and the system comprises the following units: an image collection unit, which is used for coordinating the emission of 532nm pulse laser and the collection of a gating camera image through a synchronous sequential circuit, a triangulation measurement optical structure with separated emission and reception is adopted, and a submersible can be carried for mobile measurement and scanning; the system calibration unit is used for carrying out joint calibration on camera parameters and a laser plane so as to determine system calibration parameters, so that the spatial position of a laser stripe accurately corresponds to the actual coordinate of the target surface; and the image processing unit is used for preprocessing the image acquired by the system and further extracting the coordinates of the center line of the laser stripe in the preprocessed image. According to the invention, adjacent splicing can be carried out through continuously collected laser stripe images to construct two-dimensional submarine landform information, and three-dimensional reconstruction of submarine topography can be carried out by using generated point cloud data.

The invention relates to the technical field of machine vision detection, in particular to a surface defect detection method and system based on curved surface coding and multi-view fusion, and the method comprises the steps: constructing a curved surface coding illumination system, generating a coding light field, and projecting the coding light field to a target surface; synchronously acquiring reflection images of the coded light field through a multi-view imaging device, and obtaining a multi-dimensional view image data set; separating light components from the multi-dimensional view image data set, and extracting a defect feature set; performing multi-view information integration on the defect feature set to obtain comprehensive defect features; and performing defect judgment and parameter calculation on the target surface based on the comprehensive defect characteristics, and outputting a defect detection result. By adopting curved surface coding illumination and multi-view fusion, gradient information carried by a coding light field and multi-view imaging to supplement space details, accurate detection of surface and subsurface defects is realized, the adaptability to high-curvature and multi-reflection characteristic targets is improved, and the problem of insufficient detection precision of irregular reflective surface defects is solved.

The invention discloses a thin-wall structure layered body grid generation method based on surface grid alignment, which comprises the following steps of: reading an integral surface grid with a thin-wall structure characteristic and a mapping relation, and pairing a source surface grid and a target surface grid in the integral surface grid according to the mapping relation; aligning the source surface grid and the target surface grid which are paired, updating the target surface grid, and extracting triangular mapping information of an aligned region; according to the mapping information, advancing a source surface grid to a target surface grid layer by layer to obtain a layered body grid; extracting the outer surface of the stratified body mesh, combining the outer surface of the stratified body mesh with the overall surface mesh to obtain a combined surface mesh, and performing mesh point classification; normalizing the unit normal direction of the combined surface grid, calculating the normal direction at grid points needing to be propelled according to the grid point classification, and interpolating points according to distances in the normal direction to form a constraint point set; and generating a cavity area body grid by taking the constraint point set and the combined surface grid as constraints, and combining the cavity area body grid with the layered body grid to obtain the layered body grid of the overall thin-wall structure.

An inspection system and related methods that employ directional light for enhanced imaging are provided. The inspection system includes an inspection camera and at least one directional light source positionable in an offset position from a field of view of the inspection camera. The at least one directional light source is configured to emit directional light from the offset position into the field of view of the inspection camera so as to produce shadows on a surface of interest. Further, the inspection system includes a display device coupled to the inspection camera and the inspection camera is configured to capture one or more images of the shadows produced on the surface of interest. The display device is configured to receive and display the one or more images.

The invention relates to a red light therapeutic instrument real-time calibration method based on multi-modal data fusion, which comprises the following steps: firstly, collecting data such as optical power, target surface temperature, internal temperature, reflection spectrum and light source-target surface distance in a time window, and unifying time base alignment; performing anomaly elimination, de-noising and normalization on each modal data, and constructing a standardized data matrix; extracting multi-modal features through power spectral density, wavelet packet decomposition, exponential moving average and Kalman filtering, inputting the multi-modal features into a fusion network containing a modal special encoder and a cross-modal attention unit, and generating a red light treatment state vector; the driving current, the pulse width, the duty ratio, the emission angle and the aging compensation factor are solved in real time through constrained least square optimization and are issued to the driving control module, and the red light source is smoothly adjusted in a soft start mode; the system monitors the output power, calibration is completed if the output power meets a threshold value, and otherwise, the next iteration is started. According to the method, power closed-loop correction can be realized, and dose consistency and thermal safety are improved.

The invention discloses a partial discharge intelligent detection method and a partial discharge intelligent detection system. The method comprises the following steps: firstly, synchronously acquiring a multi-channel ultrasonic signal and a surface infrared image sequence of to-be-detected power equipment; performing pulse detection, cross-channel clustering based on a sliding time window and time difference positioning on the ultrasonic signal to obtain a preliminary discharge point; the multi-moment infrared images are intelligently selected and fused based on the ultrasonic pulse active time period, and a target surface infrared image highlighting the abnormal temperature rise area is generated; performing spatial aggregation on the ultrasonic positioning point and the infrared abnormal region to form a suspected sound-heat associated discharge source; respectively extracting waveform features and temperature features from the aggregated ultrasonic pulse set and the infrared region, fusing the waveform features and the temperature features, and inputting the fused features into a dual-channel neural network model; and finally, the model outputs a discharge type identification result and a discharge intensity evaluation value of the suspected discharge source. According to the invention, through deep space-time fusion and feature level fusion, the positioning precision and identification accuracy of partial discharge detection are significantly improved.

The invention provides a signal processing method and system for a long-distance follow-up laser seeker, and belongs to the technical field of signal processing. Target surface center coordinates, a light spot image sequence and a synchronous echo pulse waveform sequence of the seeker are obtained; the speckle energy entropy and the centroid drift distance are obtained by calculating the information entropy and the centroid displacement of the target light spot image, and the pulse width parameter is extracted from the echo waveform. And constructing the three parameters into a laser feature vector, and inputting the laser feature vector into a pre-trained reflecting surface classification model so as to identify the surface material type of a laser irradiation point in real time. And determining a group of optimal follow-up control gain sets from the material gain mapping relation according to the surface material type, and dynamically reconstructing a follow-up control loop by using the optimal follow-up control gain sets. And the sight angle error of the light spot mass center and the target center is calculated, and the adjusted control loop is used for calculating the error to generate an accurate driving instruction signal, so that the tracking stability and the tracking precision of the target are improved.

A surface evaluation system that includes one or more vision systems that generate target surface data during evaluation of a surface, the one or more vision systems comprising two or more of: at least one light, a camera, a structured light camera, a laser scanner and a 3D scanner.

The invention relates to the technical field of automatic control, in particular to a depth control system and method for a seeder in a hilly and mountainous area, and the system comprises a visual module which is configured to collect a visual image of a to-be-sown area according to a first preset frequency; a data processing module configured to: convert the visual image into a depth map using an image processing model; performing gridding processing on the visual image; for each column of grids, determining at least one piece of target surface elevation data corresponding to the grid based on the depth map; determining at least one first adjustment instruction based on the preset seeding depth and the at least one piece of target surface elevation data; and the control instruction output module is configured to issue at least one first adjusting instruction corresponding to each column of grids to the corresponding depth limiting adjusting mechanism. According to the system, independent and accurate control over the ditching depth of each ditcher can be achieved through the visual preview and intelligent control technology, so that the seedling emergence uniformity and the crop yield are improved.

The invention provides a precision machining and 3D printing mixed manufacturing execution system, and relates to the technical field of data processing, and the system is used for dividing a three-dimensional model into a configuration area and a finishing area, generating a layer-by-layer closed contour path, obtaining configuration path data, extracting a boundary segment close to the finishing area, and obtaining a configuration path data set; calculating a space projection vector on a finishing target surface to obtain primary finishing path data; calculating a boundary torsion value; superposing interference offset in a historical sample path to a primary finishing path; calculating an interference amplitude index; the fitting path data and the configuration path data are subjected to path connection and unified processing according to the manufacturing sequence, and a mixed execution path instruction is obtained. Precise machining and 3D printing are integrated, and path overlapping, empty cutting or unnecessary machining is avoided.

The invention relates to the technical field of galvanometer control, and discloses a two-dimensional galvanometer scanning system transition track generation method, system and device and a medium. The method comprises the following steps: training a strategy-based reinforcement learning model to obtain a trained model; obtaining an initial pose and a target pose; inputting the initial pose and the target pose into a trained model for reasoning to obtain poses of a plurality of intermediate nodes until the position of the target pose is reached; and forming a transition track according to the intermediate node. According to the method, a reinforcement learning mode is adopted, transition curve parameters are dynamically explored based on the trained model, and a transition curve with shorter time consumption and smaller speed change rate is given, so that the influence of the inertia of the galvanometer on a scanning track is reduced, and it is ensured that a laser beam can form a high-precision and high-quality scanning pattern on the surface of a target.

The invention discloses a multi-mode nonlinear model predictive control method and system for a visual servo-driven arm-carrying unmanned aerial vehicle, and belongs to the technical field of intelligent control of arm-carrying unmanned aerial vehicles. The objective of the invention is to solve the problems of unstable control mode switching and difficulty in unified control modeling of different target structures in existing unmanned aerial vehicle grabbing control. According to the technical scheme, a task-driven modal judgment mechanism is introduced, the current task modal can be judged in real time based on the target type, the image features and the flight state information, control strategy self-adaptive switching between a rod-shaped target and a plane target is achieved, and continuity and stability of control logic are guaranteed. For a rod-shaped structure target, a remote approaching, servo adjustment and compliant contact three-stage control strategy is designed, and a dynamic weight adjustment mechanism is introduced into NMPC control solution, so that smooth transition of control performance from quick response to fine compliant is realized, and the control precision and compliance of the arm-carrying unmanned aerial vehicle in different operation stages are remarkably improved. For a plane structure target, the invention provides an adsorption control strategy based on impact time prediction and angle feedforward compensation, the contact time can be accurately estimated, the attitude of the aircraft can be adjusted in advance, the adsorption stability is effectively improved, and the contact failure probability caused by inclination of a target surface is reduced.

The utility model discloses a connecting assembly for a composite floor and the composite floor, and belongs to the technical field of floors. The connecting assembly comprises a foaming base plate, the density of the foaming base plate is 0.65-1.4 g / cm < 3 >, the foaming base plate is provided with two opposite target faces and side faces formed around the target faces, and a connecting part interlocked with the adjacent base plate is formed on at least one side face; a surface texture is formed on at least one target surface, the surface texture comprises a plurality of micro geometrical shapes formed by small spacing and peak valleys, and the micro geometrical shapes can provide a bonding surface for a bonding agent for bonding the covering part. According to the surface texture, the roughness of the target surface is effectively improved, the contact area between the binding agent and the binding surface can be increased, and the binding agent can bind the covering part and the foaming base plate with high strength and is not prone to falling off.

The invention relates to the technical field of automatic spraying, and discloses a spray gun path planning system for automatic spraying equipment. An acquisition unit of the system acquires three-dimensional point cloud data of the surface of a workpiece to be sprayed, operation state data of spraying equipment and environment monitoring data, and performs space-time alignment to form a spraying operation multi-dimensional data set; the processing unit performs sparse reconstruction on the multi-dimensional data set to obtain target surface feature data and abnormal spraying indication data; the planning unit combines target surface feature data and preset parameters of a spraying process parameter library to generate a multi-target optimized spray gun path planning scheme containing a spray gun moving track, a spraying speed and a paint output amount control sequence; and the adjusting unit determines abnormal conditions in real-time updating according to the abnormal spraying indication data, and dynamically adjusts the original planning scheme to generate a new scheme. The system can improve the spraying quality and efficiency, reduce coating waste and meet the requirements of complex spraying scenes.

An inspection system and related methods are provided. The inspection system includes an inspection camera, a plurality of light sources collocated with the inspection camera, and a post processing system. The plurality of light sources output directional light that have different respective ranges of light wavelengths. The inspection camera is configured to capture image data while a surface of interest is being illuminated with the directional light. Further, the post processing system is configured to receive the image data, process portions of the image data into a plurality of images that include distinct images corresponding to the different respective ranges of light wavelengths. The plurality of images can be reviewed to identify an abnormal region of the surface of interest.

A step apparatus for beds and the like provides an elevated support surface. The step apparatus includes a front side, a back side, and opposed platform access sides. The front side is positioned next to a user selected bedside. A platform extends intermediate the front side, the back side, and the platform access sides. A platform support mechanism supports the platform in spaced relation relative to a reference surface and a target surface. At least one of the platform access sides provides access to the platform in a first direction so as to enable the user to stand thereupon in a user stance facing the first direction. The front side provides access to the target surface in a second direction orthogonal to the first direction. The platform enables the user to turn the user stance to face the second direction from the first direction.

The invention relates to a luggage material identification method and system based on multi-modal fusion knowledge distillation. The method comprises the steps of obtaining image data and point cloud data of a to-be-detected target surface; constructing a multi-modal teacher model to obtain image texture features and point cloud geometric features; obtaining a teacher object query; outputting a material category score and a bounding box position coordinate; constructing a lightweight student model, and generating student object query, material category prediction and bounding box position prediction; characteristic distillation loss is designed for characteristic distillation, and a total loss joint training lightweight student model is constructed; actually operating the trained lightweight student model in a luggage detection scene of an airport luggage turntable; calculating a stacking score and mapping the stacking score into a stacking label; according to the method, the semantic gap between the perception recognition module and the downstream planning strategy module is effectively linked, and the contradiction between the insufficient precision of traditional single-mode perception and the high cost of multi-mode deployment is solved.

The invention relates to a light and miniature big-target-surface low-light lens, and the lens comprises a front lens group A, a diaphragm B and a rear lens group C, wherein the front lens group A, the diaphragm B and the rear lens group C are sequentially arranged in an incident direction of an optical path. The front lens group A includes a positive meniscus lens A1, a negative meniscus lens A2,a biconcave lens A3 and a biconvex lens A4, wherein the positive meniscus lens A1, the negative meniscus lens A2, the biconcave lens A3 and the biconvex lens A4 are sequentially arranged in an incident direction of the optical path. The biconcave lens A3 and the biconvex lens A4 are in close connection with each other as a first bonding group. The rear lens group C includes a biconcave lens C1, abiconvex lens C2, a biconvex lens C3, a plano-convex lens C4 and a negative meniscus lens C5, wherein the biconcave lens C1, the biconvex lens C2, the biconvex lens C3, the plano-convex lens C4 and the negative meniscus lens C5 are sequentially arranged in an incident direction of the optical path. The biconcave lens C1 and the biconvex lens C2 are in close connection with each other as a secondbonding group. The invention also relates to an imaging method of the lens. The lens is reasonable in design, effectively improves the imaging quality under the requirement of the large target surfaceof the lens, reduces the number of optical lenses, and realizes light and miniature lens. The lens has strong light collecting and light transmitting ability, and the target surface of the lens is large. The lens is high in optical resolution, is large in angle of view, and is large in observable range.

The invention discloses a large dynamic range Hartmann sensor out-of-focus measurement method and device, and belongs to the technical field of wavefront detection, and the method calculates the out-of-focus amount by measuring the change of the distance from a sub-light spot to the center of a light spot array, thereby achieving the out-of-focus measurement of an ultra-large dynamic range. According to the method, under the condition that the defocusing amount is too large and the sub-light spots cross the sub-apertures, the defocusing amount is estimated by measuring the distance variation of the sub-light spots to the center of the light spot array. According to the method, the defocusing amount is calculated by analyzing the position change of the sub light spots and calculating the distance difference between the sub light spots and the center of the target surface, so that the limitation of the traditional Hartmann measurement method on the dynamic range is overcome. According to the method, the light spot distance is used as a measurement basis, and the out-of-focus range capable of being detected by the Hartmann sensor is remarkably expanded. The estimation mode based on the light spot distance is suitable for the situation that sub-light spots cross sub-apertures, and an efficient and reliable defocus measurement scheme is provided for a large optical system.

The invention relates to the technical field of underwater target detection, and discloses an underwater target detection device and method based on binocular fusion line structured light, the device comprises a binocular structured light system and an information processing unit which are installed at the bow of an underwater robot, and the binocular structured light system is in communication connection with the information processing unit; the binocular structured light system comprises vertically arranged array laser and an underwater binocular camera, and the array laser is used for projecting line structured light stripes to an underwater target and forming a structured light image on the surface of the target; the underwater binocular camera is used for capturing a structured light image and sending the structured light image to the information processing unit; and the information processing unit is used for performing edge detection on the received structured light image to obtain line structured light projection stripes of the target surface, and further obtaining three-dimensional point cloud coordinates of the target surface. According to the invention, an underwater three-dimensional space can be fully covered, and three-dimensional perception and accurate identification of underwater suspended and semi-buried targets can be realized.

The application discloses a kind of underwater laser imaging optical systems of entry pupil preposition, whole system is ten lenses, a protective window, a variable diaphragm and a filter, from object side to image side, it is protective window, front group, rear group and filter in proper order;Wherein: protective window is used to isolate water;Front group includes front group first, second, third and fourth lens four lenses in proper order;Rear group includes rear group first, second, third, fourth, fifth and sixth lens six lenses in proper order;Variable diaphragm is located between rear group third and fourth lens, and variable F number is realized by adjusting diaphragm aperture size, and lens depth of field is promoted;Filter is narrowband filter;Object side imaging beam is imaged once after passing through protective window, front group lens, then pass through rear group lens and filter and be imaged on target surface.The application can realize variable F number by variable diaphragm, promote lens depth of field, and focusing is carried out by last three lenses of rear group, and underwater 3m to infinite distance imaging can be realized.

The invention discloses a damage detection method and system based on machine vision, and relates to the technical field of machine vision detection. A polarization structured light-thermal imaging three-mode acquisition framework of a customized machine vision array is adopted, the problems of composite noise superposition and unstable internal thermal signal diffusion caused by dynamic heterogeneity of a target surface are solved, the adaptability of damage detection to a complex environment is greatly improved, and by means of a space attention mechanism and a cascade analysis network, the damage detection accuracy is improved. According to the method, geometric measurement and heat conduction simulation technologies are combined, the problems that damage space distribution is rough in description, and there is no stable corresponding relation between surface and deep abnormity are solved, accurate space mapping and multi-dimensional quantification of damage from the surface to the interior are achieved, and through linkage of a dual optimization mechanism and an edge end improved MobileViT lightweight model, the problem that damage space distribution is rough in description is solved. Pain points where real defects and interference artifacts are difficult to distinguish are broken, stable correspondence between surface signals and deep damage is enhanced, and accuracy and practicability of damage detection in an industrial scene are guaranteed.

The invention belongs to the technical field of optical system aberration analysis, and discloses an experimental device for measuring and correcting image distortion of an optical imaging system, which comprises an optical axis testing device and an optical distortion testing platform, and the optical distortion test platform is used for testing optical distortion of the optical imaging system to be tested and integrating optical distortion data with optical axis deviation to obtain an image distortion fitting coefficient and a distortion correction model of the optical imaging system. According to the invention, the image distortion of the optical imaging device can be measured, the image distortion can be corrected, the imaging device can correct the deviation between the optical axis and the center of the target surface when the system is installed and adjusted, the optical distortion of the whole optical system can be corrected, and the method has guiding significance for the application of detecting and identifying the accurate position of a target by using the optical system.

A work machine is capable of making a working attachment operate accurately along a construction target surface in the vicinity thereof and of allowing an operator to operate the work machine while recognizing the load acting on a front work implement thereof when the working attachment is not in the vicinity of the construction target surface. To accomplish this, a controller calculates target velocitys for actuators on the basis of an operation amount from an operation input device, postures of a machine main body and the front work implement, and the distance between the working attachment and the construction target surface. The controller calculates operation command values for the actuators on the basis of the target velocities, calculates correction amounts for the operation command values on the basis of loads on the actuators sensed by a load sensor, and adds the correction amounts to the operation command values.

The construction history calculation system includes a controller that calculates construction history data based on the detection results of a posture detection device that detects the posture of a work machine. The controller acquires target surface data and, based on the acquired target surface data, sets multiple configuration surfaces, including the target configuration surface and adjacent configuration surfaces that constitute the target surface data, as surface areas. It sets multiple record points to achieve a predetermined point density for the surface areas, calculates the trajectory of the work machine's working device based on the detection results of the posture detection device, and calculates the position information of the working device's trajectory, associating the position information of the monitor points of the working device that constitute the trajectory with each of the multiple record points, as construction history data.

The application provides a high-precision autocollimator based on the Tyman Green interference principle and an angle measuring method, aiming at solving the problem that the prior art cannot continue to break through the existing angle measuring precision due to the limitation of geometric optical principle and the influence of environmental factors. The autocollimator comprises a laser, a filtering collimation module, a beam splitter, a reference mirror, a plane mirror, a detector and a data acquisition and processing computer. After the autocollimator is leveled, the plane mirror is placed on a turntable to be measured, and the measurement is carried out when the turntable has no rotation angle and has a rotation angle, so that the laser is emitted to the filtering collimation module to be emitted as monochromatic parallel light to the beam splitter and is divided into two paths. One path is reflected by the plane mirror and then passes through the beam splitter to reach the detector again. The other path is reflected by the reference mirror and then reflected by the beam splitter to reach the detector again. The two beams interfere on the target surface of the detector, the detector records the interference image and uploads it to the computer to calculate the interference fringe offset, so that the angle measurement is completed.

The invention discloses a method and device for compensating the dispensing height through curved surface fitting. The method comprises the steps that three-dimensional coordinate point information of a plurality of discrete sampling points on the surface of a to-be-dispensed target is collected; building a polynomial of a curved surface model for compensating dispensing according to the number of the sampling points; constructing a matrix, and constructing a linear equation set based on the primary function; and the weight coefficient of the linear equation set is solved through a Gaussian elimination method, a fitted quadric surface equation after interpolation calculation is obtained, and the dispensing height is compensated based on the quadric surface equation. According to the method, the polynomial is fitted through the three-dimensional coordinate point information, the linear equation set is constructed, the predicted compensation value is obtained after interpolation calculation is carried out according to the fitting result so as to compensate the dispensing height, the high-precision continuous curved surface model can be constructed by collecting discrete sampling points, real-time interpolation calculation of any coordinate is supported, and the precision of the dispensing height is improved. The method can solve the problem of insufficient fitting precision of dispensing height compensation based on a single plane.